Image data creating device and image display

ABSTRACT

Provided is an image display system in which image data of a commercial product as an article ( 8 ) is freely selected and given to a purchaser by using two-way communication such as Internet and the article ( 8 ) can be observed from a view point desired by the purchaser. In this system, the article ( 8 ) is placed on a turn table ( 16 ) which rotates around a rotational axis ( 15 ), an image is taken by a camera ( 9 ) installed on a wrist ( 19 ) of a robot ( 18 ) of plural axes while keeping camera posture Nv so that an optical axis ( 21 ) of the camera ( 9 ) passes through an observation point of the article ( 8 ), for example, a flower, and image data for respective plural imaging positions are stored in the memory ( 31 ). An operator specifies the imaging position continuously so that the image data corresponding to the specified imaging position is read out from the memory ( 31 ) and displayed by a display means ( 28 ) with a control means.

DESCRIPTION

[0001] 1. Technical Field

[0002] The present invention relates to a device for displaying imagesof outer surfaces or inner surfaces of objects to be imaged, forexample, a combination of a table and chairs, automobile, plant,structure such as houses, and outdoor scenery. More particularly, thepresent invention relates to a novel configuration referred to as anInternet robot.

[0003] 2. Background Art

[0004] Currently, information techniques including personal computersare rapidly infiltrating personal lives. Overseas, all kinds ofcommercial products including books or antiques are easily purchased viaInternet communication. This is very quick and simple, because apurchaser can purchase desired commercial products without taking thetrouble to go to stores in town. However, since image information ofcommercial products being transmitted via Internet is limited and fixed,because they are information created and edited unilaterally by aseller, and the purchaser cannot enjoy commercial products from theviewpoint of the purchaser's desire.

[0005] A typical prior art is disclosed in Japanese Laid-Open PatentApplication Publication No. Hei. 8-22498. In this prior art,three-dimensional images in a virtual world are pre-created by computergraphics. By utilizing the three-dimensional virtual world, an operatorcan overlook and approach various institutions and make comparison amongthe institutions as if the operator were normally purchasing products.In addition, images of displayed articles inside the institutions areoffered by playing back video. When the operator finds a desiredcommercial product, its detailed information can be taken out.

[0006] In this prior art, a view point of a camera that takes images ofthe articles, i.e., an optical axis of the camera is predetermined bythe seller, and therefore, the purchaser is incapable of selectinghis/her desired view point, and hence cannot see images of back portionsof the commercial products. Besides, the purchaser cannot observe thearticles as serial images of the entire peripheries of the products.Further, some purchasers have their own scenarios of retrieval of theimages of articles and move their eyes along a predetermined direction,so that the images can be played back only serially, although branchingis possible. The purchaser needs to pre-construct the scenarios of theimages of the articles. The need for imaging by the camera and modelingcauses increased time and cost. In the case where the article iscommercially available automobile, the purchaser cannot randomly accessand select cases of an open state-mode, a half-open state-mode, and aclosed state-mode of its door, and hence, cannot select and see therespective states of the articles. Moreover, the purchaser cannotperform operations of zoom up, i.e., getting closer, and zoom down,i.e., getting away, in real time.

DISCLOSURE OF THE INVENTION

[0007] An object of the present invention is to provide an image displaydevice in which images of outer surfaces or inner surfaces of articlessuch as commercial products and images of outdoor scenery can beselected and watched by an operator.

[0008] Another object of the present invention is to provide a deviceand a method for creating suitable image data for storing images ofobjects to be imaged in a memory.

[0009] An image data creating device of the present invention comprises:

[0010] a camera for taking an image of an object to be imaged;

[0011] a displacing means for changing relative positional relationshipbetween the camera and the object to be imaged;

[0012] a displacement detecting means for detecting relativedisplacement between the camera and the object to be imaged;

[0013] a memory for storing data of the image taken by the camera;

[0014] a memory control means adapted to store the data of the imagetaken by the camera in the memory as being associated with each relativepositional relationship between the camera and the object to be imagedin taking the image; and

[0015] a transmission/reception means capable of transmitting the dataof the image to an external image display device.

[0016] In accordance with the present invention, the camera is adaptedto take an image for each of different relative positional relationships

[0017] with the object to be imaged. Therefore, the relative positionalrelationships can be called imaging positions. Then, in the addressescorresponding to the respective relative positional relationships in thememory, the associated image data are stored. Then, the image data issuitably transmitted to the image display device, and the image at thedesired imaging position can be observed.

[0018] It is preferable that the displacing means includes a firstdisplacing means for displacing the object to be imaged and a seconddisplacing means for displacing the camera, and the device furthercomprises:

[0019] a first displacement detecting means for detecting displacementof the object to be imaged and a second displacement detecting means fordetecting displacement of the camera, and

[0020] the memory control means is adapted to, in response to outputs ofthe first displacement detecting means and the second displacementdetecting means, define the relative positional relationship based on acombination of the detected displacement of the object to be imaged andthe detected displacement of the camera.

[0021] This is because when the object to be imaged is a displaceableone, such as an article, various image data of the article or the likeis obtainable.

[0022] It is preferable that the first displacing means is comprised ofa turntable for rotating the object to be imaged around a predeterminedrotational axis, the second displacing means is comprised of a robot ofplural axes for displacing the camera along the rotational axis, thefirst displacement detecting means is comprised of a rotational angledetecting means for detecting a rotational angle of the turn table, andthe second displacement detecting means is comprised of an axialposition detecting means for detecting the axial position of the camera.

[0023] This is because functions and effects of the present inventioncan be provided with a simple configuration. To be specific, in order tocreate and store the image data of the object to be imaged in thememory, the object to be imaged is set on the turn table, the turn tableis rotated around the rotational axis, the camera is installed on therobot of plural axes, and the image data is stored in the memory foreach imaging position as the address corresponding to the rotationalangle associated with the turn table and the rotational axis positiondisplaced by the robot. The optical axis (angle-line) of the camera maybe changed by the robot. When the camera is displaced along therotational axis, it may be driven to be angularly displaced so that theoptical axis (angle-line) of the camera passes through the predeterminedportion (or point) of the object to be imaged.

[0024] Or, the image data creating device in which the displacing meansis comprised of a movable reflecting mirror provided on an optical axisof the camera, in other words, the movable reflecting mirror beingadapted to turn around the optical axis of the camera, and reflectedlight from the object to be imaged is adapted to be reflected on areflecting plane of the movable reflecting mirror and then be incidenton the camera along the optical axis, is suitable for obtaining imagesof outside scenery or inner peripheral face or the like of a building.The simplified configuration, which is a turnable reflecting mirror, canobtain various images.

[0025] The movable reflecting mirror is pivotable around a straight linewhich passes through a point where the optical axis of the cameracrosses the reflecting plane and is perpendicular to the optical axis ofthe camera. By adding such constitution to the image data creatingdevice, images of substantially all the directions of the scenery or thelike around the camera can be obtained.

[0026] It is preferable that the image data creating device comprises aturn angle detecting means and a pivot angle detecting means of themovable reflecting mirror, wherein the memory control means is adaptedto, in response to outputs of the turn angle detecting means and thepivot angle detecting means, define the relative positional relationshipbased on a combination of the detected turn angle and the detected pivotangle.

[0027] An image display device of the present invention, comprises:

[0028] a transmission/reception means capable of receiving image datafrom an external memory in which the image data for each of pluralimaging positions obtained by taking an image at each of the pluralimaging positions having different relative positional relationshipsbetween an object to be imaged and a camera that takes an image of theobject to be imaged is stored as being associated with the each imagingposition;

[0029] a display means;

[0030] a specifying means for specifying the imaging position; and

[0031] a control means adapted to, in response to an output of thespecifying means, read out at least part of the image data at apredetermined imaging position from the external memory and display thepart of the image data by the display means, and then adapted to readout image data corresponding to the imaging position specified by thespecifying means from the external memory and display the image data bythe display means.

[0032] In accordance with the present invention, the image data of theobject to be imaged for each of plural imaging positions is stored inthe memory, and the operator operates the specifying means to specifythe imaging position. Thereby, the control means reads out the imagedata corresponding to the specified imaging position from the memory andvisually displays the image data by the display means. Therefore, theoperator can freely observe the image of the commercial product or thescenery as the object to be imaged like playing a game by utilizingtwo-way communication such as Internet communication. Thus, the problemsassociated with the prior art can be solved.

[0033] Also, the present invention is characterized in that pluralpieces of image data stored in the external memory are obtained bytaking images while keeping a posture of the camera in such a mannerthat the optical axis of the camera passes through a predeterminedportion (or point) of the object to be imaged at the respective imagingpositions of the camera.

[0034] In accordance with the present invention, the image data storedin the external memory is the image data of the object to be imagedwhich is imaged by the camera in such a manner that the optical axis ofthe camera passes through the predetermined portion (observation point)of the object to be imaged, for example, the center of gravity of theobject to be imaged. Thus obtained image data is stored in the externalmemory. Since the object to be imaged is imaged by the camera aiming atthe center of gravity of the object to be imaged or a number of theother predetermined observation points than the center of gravity, theimages desired by the operator can be obtained. For example, when theobject to be imaged is a plant, the predetermined observation point isnot a branch but a flower.

[0035] The present invention is characterized in that the specifyingmeans is adapted to specify a zoom up/zoom down position which is closeto/or away from the object to be imaged as the imaging position of thecamera, and the control means is adapted to enlarge/reduce the imagedata in the external memory with a magnification corresponding to thezoom up/zoom down position and display the image data by the displaymeans.

[0036] In accordance with the present invention, the use of thespecifying means renders the imaging position of the camera closer tothe object to be imaged for zoom up, or away from the object to beimaged for zoom down, and according to the zoom up and zoom down, theimage data stored in the external memory is processed so that theoperator can see enlarged part as the closer image data that is desiredby the operator or a reduced entire image as the further object to beimaged, which can be carried out by operation of the operator in realtime.

[0037] The present invention is characterized in that the image datastored in the external memory are obtained by taking images of pluralkinds of state-modes of the object to be imaged by the camera, thespecifying means is adapted to specify one of the state-modes, and thecontrol means is adapted to read out image data in the state-modespecified by the specifying means from the external memory and displaythe image data by the display means.

[0038] In accordance with the present invention, the image data storedin the external memory is image data for each of plural kinds ofstate-modes of the object to be imaged. For example, when the object tobe imaged is automobile, image data of its door in an open state-mode ora closed state-mode is stored in the external memory for eachstate-mode. The operator can operate the specifying means to select andspecify the state-mode, and the image data in a desired state-mode canbe displayed by the display means.

[0039] The present invention is characterized in that the specifyingmeans is adapted to continuously specify adjacent imaging positions.

[0040] In accordance with the present invention, the imaging position ofthe image data stored in the external memory can be changed into itsadjacent one by the operation of the specifying means. This makes itpossible that the operator can see the image of the object to be imagedwhich is displayed by the display means while changing the optical axiscontinuously. The specifying means may be push buttons configured bydisplaying four outward arrows, i.e., upward and downward, and rightwardand leftward arrows as shown in FIG. 5(1), or a cursor moving in ascreen of the display means as shown in FIG. 5(2). In this way, theimaging position of the image data can be continuously changed.

[0041] An image display system of the present invention comprises one ofthe above-mentioned image data creating devices, one of theabove-mentioned image display devices, and a network connecting atransmission/reception means of the image data creating device and atransmission/reception means of the image display device so as to enabletwo-way communication.

[0042] In accordance with the image display system, as described above,the operator can obtain all the images of a commercial product orscenery as the object to be imaged as if the operator were playing agame by utilizing two-way communication such as Internet communication.

[0043] It should be appreciated that the external image display devicein the image data creating device is the prescribed image display deviceof the present invention, and the external memory in the image displaydevice is the prescribed memory in the image data creating device of thepresent invention.

[0044] A method of displaying an image of the present inventioncomprises:

[0045] a store step of storing image data for each of plural imagingpositions obtained by taking an image at each of the plural imagingpositions having different relative positional relationships between anobject to be imaged and a camera that takes an image of the object to beimaged as being associated with the each imaging position;

[0046] a read-out step of specifying an imaging position correspondingto the mage data and reading out the data from the memory; and

[0047] a display step of displaying the read out image data by a displaymeans as an image.

[0048] It is preferable that in the method of displaying the image, inthe read-out step, the image data corresponding to the specified imagingposition and image data corresponding to an imaging position adjacent tothe specified imaging position are read out, and in the display step,the image data corresponding to the adjacent imaging position isdisplayed as the image adjacently to the image corresponding to thespecified imaging position. Thereby, when an image in broader range isintended to be obtained by zooming down the image at the specifiedposition, the image at the imaging position adjacent to the specifiedimaging position is displayed adjacently. In other words, the images canbe composed to obtain the image in broader range.

BRIEF DESCRIPTION OF THE DRAWINGS

[0049]FIG. 1 is a block diagram showing an entire schematicconfiguration of an embodiment of the present invention;

[0050]FIG. 2 is a view showing images of an article 8 that purchasers A,B, C are respectively watching through processing means 1, 2, 3;

[0051]FIG. 3 is a perspective view showing that an image of the article8 is taken by a camera 9;

[0052]FIG. 4 is a block diagram showing an electric configuration in theembodiment shown in FIGS. 1-3;

[0053]FIG. 5 is a view showing a configuration of part of an input means27 included in the processing means 1 of the purchaser A;

[0054]FIG. 6 is a view to explain part of an operation of a processingcircuit 29 in a seller-side processing means 24;

[0055]FIG. 7 is a view to explain an operation of the processing circuit29 included in the seller-side processing means 24, which follows anoperation in a Step s11 shown in FIG. 6;

[0056]FIG. 8 is a flowchart to explain an operation of a processingcircuit 26 included in the processing means 1 of the purchaser A;

[0057]FIG. 9 is a view to explain a principle for conducting retrievalof an image at an approximate position (r_(p), θ_(p), z_(p)) with theprocessing circuit 26 included in the processing means 1 of thepurchaser A side;

[0058]FIG. 10 is a simplified cross-sectional view of another embodimentof the present invention;

[0059]FIG. 11 is a front view showing an example of an imaging means inanother embodiment of the present invention;

[0060]FIG. 12 is a front view showing an example of an imaging means ina further embodiment of the present invention;

[0061] FIGS. 13 (1) and 13(2) are views showing images of scenery whichthe purchasers are watching through the processing means;

[0062]FIG. 14 is a view to explain part of an operation of a processingcircuit of the seller-side processing means in the embodiments in FIGS.11,12;

[0063]FIG. 15 is a view to explain an operation of the processingcircuit included in the seller-side processing means, which follows anoperation in Step s7 in FIG. 14;

[0064]FIG. 16 is a view to explain part of an operation of theprocessing circuit included in the processing means of the purchaser, inthe embodiments in FIGS. 11, 12; and

[0065]FIG. 17 is a front view showing screens on which images arecomposed and displayed when a zoom-down operation of an image isperformed by the seller-side processing means.

BEST MODE FOR CARRYING OUT THE INVENTION

[0066]FIG. 1 is a block diagram showing an entire schematicconfiguration of an embodiment of the present invention. A plurality of(for example, in this embodiment three) purchasers A, B, C, respectivelyhave processing means 1, 2, 3. The processing means 1, 2, 3 receiveimages of an outer surface of an article 8 as a commercial product invirtual three-dimensional spaces 5-7 prepared by a seller via a two-waycommunication network 4 such as a public phone line like a game, and thepurchasers A, B, C can observe the article 8 in the processing means 1,2, 3. The communication network 4 may be, for example, an Internetcommunication network. In this manner, the plurality of purchasers A, B,C can watch images taken by a camera 9 at imaging positions of thearticle 8 in desired conditions. In other words, the purchasers A, B, Ccan simultaneously watch a plurality of images as if they were takingimages using the camera 9 installed on a virtual robot 18.

[0067]FIG. 2 is a view showing images of the article 8 which thepurchasers A, B, C are watching through the processing means 1, 2, 3.FIG. 2(1) is a view showing a screen 11 in the processing means 1 of thepurchaser A, FIG. 2(2) is a view showing a screen 12 in the processingmeans 2 of the purchaser B, and FIG. 2(3) is a view showing a screen 13in the processing means 3 of the purchaser C. Images 8 a, 8 b, 8 cselected by the purchasers A, B, C of the article 8 are displayed on thescreens 11, 12, 13 and these images 8 a, 8 b, 8 c are selectivelydisplayed. FIG. 3 is a perspective view showing the state-mode in whichthe image of the article 8 is taken by the camera 9. The article 8 isplaced on a turntable 16 rotatably driven around a vertical rotationalaxis 15 such that an axis of the article 8 coincides with the rotationalaxis 15. By assuming that the rotational axis 15 is Z-axis, X-axis andY-axis orthogonal to each other are set in a virtual plane including aplacement plane on the table 16 that is perpendicular to Z-axis, thussetting a rectangular coordinate system in the turntable 16. Theplacement plane of the turntable 16 is a horizontal plane. An origin 17in the rectangular coordinate system is present in the placement plane.A rotational angle θ of the turn table 16 around the rotational axis 15and an axial position z of the camera installed on a wrist 19 of a robot18 of plural axes placed in the vicinity of the turn table 16, which isalong the rotational axis 15, constitute a relative imaging positionbetween the camera that takes an image of the article and the article.Further, a posture of the camera 9 is maintained by the robot 18 so thatan optical axis 21 of the camera 9 passes through an observation point23 of the article 8. In this case, the observation point 23 throughwhich the optical axis 21 of the camera passes may be located on therotational axis 15 or at a position other than the rotational axis 15.Specifically, for example, the optical axis 21 of the camera 9 isrotated around a vertical line and a horizontal line by the robot 18,thereby allowing the posture of the camera to be selected. By doing so,the optical axis 21 of the camera 9 is determined to pass through adesired position of the article 8. Posture Nv of the camera 9 accordingto each viewpoint is set for each imaging position. The imagingpositions of the images 8 a, 8 b, 8 c of the article 8 shown in FIGS.2(1)-2(3) and the postures of the camera 9 are shown in Table 1. TABLE 1Imaging Position of Camera 9 θ Z Posture of Camera 9 (1) θ a Za Middle(2) θ b Zb Middle (3) θ c Zc Downward

[0068] The turntable 16 is rotatable around the rotational axis 15through 360 degrees. The camera 9 has an automatic focus lens system andhas a two-dimensional receiving face perpendicular to the optical axis21 at an image formation position of the lens system. Thetwo-dimensional receiving face may be realized by, for example, CCD(charge coupled device). The robot 18 has, for example, five-or-six axisdegrees of freedom. The imaging position of the camera 9 may be presenton a virtual cylindrical plane 22 including the rotational angle θaround the rotational axis 15. The camera 9 is placed on the virtualcylindrical plane 22 and takes images of the entire periphery of thearticle 8 from above and below while the article 8 is rotated by theturntable 16.

[0069] The virtual cylindrical plane 22 has a certain radius from therotational axis 15. The camera 9 is displaced relatively by the robot 18for each predetermined spacing Δθ in a plane including the rotationalaxis 15 on the virtual cylindrical plane 22. In another embodiment ofthe present invention, when the article 8 is short, the camera 9 may bedisplaced relatively in a virtual plane including the rotational axis 15in the form of a virtual spherical plane including the article 8. Theposition of the camera 9 along the rotational axis 15 can be easily setin such a manner that both end positions of a moving range of the camera9 are set and the moving range is divided at even intervals.

[0070]FIG. 4 is a block diagram showing an electric configuration in theembodiment shown in FIGS. 1-3. The purchaser A has the processing means1 which is connected to the processing means 24 owned by the seller viathe communication network 4. The processing means 1 of the purchaser Acomprises a purchaser-side processing circuit 26 realized by amicrocomputer or the like, an input means 27 as a specifying meansoperated by the purchaser A, and a display means 28 realized by liquidcrystal or a cathode ray tube. The processing circuit 26 functions as atransmission/reception means connected to the seller-side processingmeans 24 and also functions as a control means that reads out image datafrom a memory 31 mentioned later and causes the display means 28 todisplay the image data. The display means 28 has the screen 11 shown inFIG. 2 (1). The processing means 2, 3 of the purchasers B, C areconfigured in the same manner as the processing means 1.

[0071] The seller-side processing means 24 comprises a seller-sideprocessing circuit 29 realized by a microcomputer or the like. To theprocessing circuit 29, the image data obtained by imaging by the camera9 is given. The processing means 24 comprises a memory 31 for storingthe image data of the article 8. The processing circuit 29 functions asa transmission/reception means connected to the purchaser-sideprocessing means 1 and also functions as a memory control means forstoring the image data in the memory 31. The rotational angle of theturntable 16 is detected by a rotational angle detecting means 32. Therotational axis direction position z of the camera 9 along therotational axis 15 is detected by an axial position detecting means 33.Outputs of these detecting means 32, 33 are given to the processingcircuit 29. The processing circuit 29 has a display means 34. Theprocessing circuit 29 further has an input means 35 such as a keyboardoperated by the seller and a mouse 36 as an input means. The input means35 is capable of setting a state-mode Nm of a movement of the article 8and a direction of the optical axis 21 of the camera 9, i.e., theposture Nv of the camera 9. An input means 27 included in the abovepurchaser-side processing means 1 is configured in the same manner asthe input means 35 and comprises a key for setting a magnification K forenlargement or reduction in the screen 11 of the display means 28. Theinput means 27 may further comprise a mouse similar to the mouse 36 ofthe processing means 24 and may be adapted to be capable of performingan input operation instruction.

[0072] Table 2 shows contents stored in the memory 31. TABLE 2 Nm 0 1 2Nv 1 2 3 4 0˜4 0˜4 θ 0 1 2 . . . θ1 1 2 . z . . . z1

[0073] The image data of the camera 9 is stored in the memory 31 by anoperation of the processing circuit 29, in state-mode Nm where eachmovement mode Nm of the article 8 as a commercial product is in therange of 0-2, under conditions in which each posture Nv of the camera 9is in the range of 0-4, and under conditions in which each rotationalangle θ of the turn table 16 is in the range of 0 to a maximum value θ1,and each vertical axial position Z along the rotational axis 15 is inthe range of 0 to the maximum value z1. The state-mode of the article 8refers to, for example, an open state-mode, or a closed state-mode of adoor when the article 8 is automobile. For each predetermined rotationalangle Δθ of the turn table 16, the camera 9 is moved along therotational axis 15 by the robot 18, and takes an image of the article 8for each position in the rotational axis direction, thereby obtainingimage data, which is stored in the memory 31.

[0074] The purchaser A operates the input means 27 of the processingmeans 1 to select the position of the camera 9 associated with the imagedata to be selected.

[0075]FIG. 5 is a view showing a configuration of part of the inputmeans 27 included in the processing means 1 of the purchaser A. As shownin FIG. 5(1), push buttons 38-41 are configured by longitudinally andlaterally displaying outward arrows. By operating each of the pushbuttons 38-41, the imaging position is changed into its adjacentposition, in each operation of each of the push buttons 38-41 or inproportion to operation time. For example, by operating the push button38 of the upward arrow, the imaging position of the camera 9 displacedupward in the rotational axis direction can be selected. Also, byoperating the button 40 of a leftward arrow, the position obtained byangularly displacing the turntable 16 toward a direction around therotational axis 15 can be specified. Thus, by operating these pushbuttons 38-41, a desired imaging position of the camera 9 can beselected.

[0076] By operating the mouse provided in the input means 27, a cursor42 on the screen 11 is clicked (dragged) along, for example, a movingdirection 43 as shown in FIG. 5(2). Thus, the positions at which thecamera 9 takes still images (moving image) to be displayed by thedisplay means 28, and hence, continuous imaging positions as thepositions that the purchaser A sees can be selected. Thus, bycontinuously and sequentially specifying and selecting adjacent imagingpositions by using the mouse, the image of the article 8 seen from eachimaging position can be displayed on the screen 11 of the display means28 by the operation of the processing circuit 26.

[0077] In FIG. 5(1) and FIG. 5(2), the input means 27 is furtherprovided with push buttons 51, 52 for zoom up or zoom down which areoperated for the purpose of changing a magnification K mentioned later.

[0078]FIG. 6 is a view to explain part of an operation of the processingcircuit 29 of the seller-side processing means 24. The operation shownin FIG. 6 is executed and the image data obtained by the camera 9 isstored in the memory 31. Processing goes from Step s1 to Step s2, wherethe robot 18 in FIG. 3 is set at a stand-by position and the article 8as a commercial product is placed on the turntable 16. A horizontaldistance between the camera 9 that takes an image and the rotationalaxis 15 coincident with the axis of the article 8 is represented by avariable r. In Step s3, a shift movement of the camera 9 along therotational axis 15 on the cylindrical virtual plane 22 is selected. Inanother embodiment of the present invention, selection and configurationmay be carried out so that the camera 9 is adapted to perform shiftdisplacement movement in the form of the spherical plane as describedabove or in the form of a desired free curved plane.

[0079] In Step s4, the state-mode Nm of the article 8 is selected. Forexample, when the article 8 is automobile, Nm=0, 1, or 2 is selectedaccording to whether the door is in an open state-mode, a closedstate-mode, or a half-open state-mode.

[0080] In Step s5, the viewpoint of the camera 9, and hence the postureNv of the camera 9 as the direction of the optical axis 21 is selected.For example, the view point is such that the posture Nv is determined as0-4 as corresponding to center, upper, lower, left, and right, amongwhich the posture Nv is selected. In Step s6, after the camera 9 ismoved closest to the article 8, a shift length and shift angle arecalculated.

[0081] Simultaneously, both ends of frame points of the moving range ofthe camera 9 on the cylindrical plane 22 as the moving plane are taughtto the robot 18. In Step s7, the direction of the optical axis 21 as theimaging direction of the camera 9 thus obtained as being associated withthe robot 18 and the distance r, the rotational angle θ and the axialposition z, are all calculated. In Step s8, it is judged whether or notthe calculations obtained in Step s7 are in the moving range of therobot 18, and when it is judged that they are in the moving range,processing goes to Step s9, where it is judged whether or notcalculations of all view points as all the postures of the camera 9 arecompleted. When it is judged that the calculations of all the viewpointsare completed, in Step s10, it is judged whether or not setting of allthe state-modes Nm are completed.

[0082] When the calculations of the state-modes Nm of the article 8, thepostures Nv, and the imaging positions θ and z associated with thecamera 9 are completed, in Step s11, store addresses are set in thememory 31 as shown in the above table 2.

[0083]FIG. 7 is a view to explain an operation of the processing circuit29 included in the seller-side processing means 24, which follows theoperation in Step s11 in FIG. 6. In the above-mentioned Step s11, therobot 18 is taught the posture and the axial position z of the camera 9as corresponding to the rotational angle θ of the turn table 16 for eachstate-mode Nm.

[0084] In Step s12 in FIG. 7, each state-mode Nm and the posture of thecamera 9 as the viewpoint are set. In the subsequent Step s13, themovement angle θ of the turn table 16 is initialized to zero. In Steps14, the position z of the camera 9 associated with the robot 18 is setto a lowermost point z=0 In Step s15, the camera 9 takes an image of thearticle 8 by automatic focus. In Step s16, based on the state-mode Nm,the view point Nv as the posture of the camera 9, the distance r, andimaging position number associated with the robot 18, a store area ofthe memory 31 is set. In Step s17, in thus set store area, the imagedata from the camera 9 is stored and recorded. In Step s18, the axialposition z of the camera 9 associated with the robot 18 is incrementedby 1 (z=z+1), thereby setting the axial position which is closer bypredetermined height Δh to the uppermost side. In Step s19, based onthus specified shift calling operation, the wrist 19 of the robot 18performs operation of each axis of the robot 18 so that the camera 9 isset at the axial position along Z-axis. In Step s20, it is judgedwhether or not the position z along the rotational axis 15 is theuppermost point z1, and when it is judged the position z is not theuppermost point z1, processing goes back to Step s15. When the camera 9reaches the uppermost position z1 in the rotational axis direction, inthe subsequent Step s21, the rotational angle θ of the turn table 16 isincremented by one (θ=θ+1), and adjacent rotational angle position whichis angularly displaced by a predetermined value Δθ is set. In Step s22,it is judged whether or not the turn table 16 is at the maximum angleθ1, for example, 360 degrees, and when it is judged that the turn table16 is not at the maximum angle θ1, processing goes back to Step s14.When the rotational angle of the turn table 16 is the maximum value θ1,processing goes to Step s23, where it is judged whether or not animaging operation of the postures Nv as all view points is completed.When it is judged that the imaging operation is completed, processinggoes to Step s24, where it is judged whether or not an imaging operationof all the state-modes Nm is completed. When it is judged that theimaging operation is completed, in Step s25, the robot 18 returns to itsinitial stand-by position. Thus, in Step s26, a series of operations arecompleted.

[0085]FIG. 8 is a flowchart to explain an operation of the processingcircuit 26 included in the processing means 1 of the purchaser A. Theprocessing circuit 26 is connected to the processing circuit 29 of theprocessing means 24 of the seller via the communication network 4 suchas Internet, thereby allowing the contents stored in the memory 31 to beread out. The memory 31 may be provided in a server of a provider inInternet communication.

[0086] Processing goes from Step u1 to Step u2, where the purchaser Aoperates the input means 27 to perform an input operation for watchingthe image of the article 8 by the display means 8. Thereby, an initialvalue of the imaging position as the reference check position comprisedof a combination of the rotational angle position θ and the axialposition z associated with the camera 9 is set. Further, an initialvalue of the posture Nv of the camera 9 as the viewpoint representingthe axis 21 of the camera 9 and an initial value of the state-mode Nm ofthe article 8 are automatically set. Thereby, the purchaser A can watch,for example, the entire image of the article 8 displayed on the screen11 of the display means 28, and hence, check the article 8. Then,processing goes to a subsequent Step u3.

[0087] In Step u4, the purchaser A operates the input means 27 to selectthe state-mode Nm, and the posture Nv of the camera 9. Further, thepurchaser A operates the input means 27 in FIG. 5 to perform an inputoperation of moving the camera 9 from an initial imaging position in thevertical or horizontal direction and changing the distance r from therotational axis 15 of the camera 9 for zoom up or zoom down. In Step u5,the distance r, the posture Nv, and the axial position z aresequentially varied by predetermined values, Δr, Δθ, Δz. In Step u6, itis judged whether or not a value P (=Δr²+Δθ²+Δz²) equal to a sum ofsquares of respective values Δr, Δθ, Δz is zero. When it is judged thevalue P is not zero, processing goes to Step u3, where values Δr, Δθ, Δzare added to current values r, θ, z thereby setting an imaging positionof the camera 9. In Step u7, a magnification K of zoom up or zoom downby operation of the push button 51 or 52 of the input means 27 iscalculated.

K=r _(p) /r  (1)

[0088] where r_(p) is a horizontal distance from the article to avirtual curved plane onto which the optical axis projects, and themagnification K is a ratio of zoom-up or zoom-down distance r to thereference value rp. So, as corresponding to the magnification K, therotational angle position θ_(p) and the axial position Z_(p) asapproximate imaging position at which the image data prestored in thememory 31 exists, are calculated and the distance rp is calculated (thisis obvious because the curved plane is the virtual cylindrical plane22).

[0089] In Step u8, retrieval of the image data stored in the memory 31as corresponding to the combination of the angle position θ_(p), theaxial position Z_(p), and the distance rp desired by the purchaser A,which has been obtained in the above Step u7 is conducted as shown inFIG. 9.

[0090] In Steps u14-u20 in FIG. 8, part of the operation of theprocessing circuit 29 included in the processing means 24 of the selleris illustrated. In Step u14, actual image data corresponding to thestate-mode of the article 8, the posture of the camera 9 with respect tothe view point, and the imaging position comprised of the combination ofthe rotational angle θ and the axial direction z is stored in the memory31. In Step u16, further, a voice signal is given by a voiceinput/output device such as a microphone. The voice signal may be, forexample, data that describes how the article 8 is. In Step u15, theimage data obtained in Step u14 and the voice data obtained in Step u16are edited, and a background of the article 8 and texture informationand voice associated with the article 8 are combined and stored in thememory 31. In Step u17, the image data of the article 8 as thecommercial product and the corresponding information edited in Step u15are stored in the memory 31. In Step u18, in response to a requestsignal by the processing means 1 of the purchaser A, the neighboringimage data associated with the rotational angle position θ_(p), theaxial position z_(p), and the distance r which are specified by theinput means 27 are read out from the memory 31 and sent to theprocessing circuit 26 via the communication network 4 by Internetcommunication (Step u19). In Step u20, the image data read out from thememory 31 is given to the processing circuit 26, and in theabove-mentioned Step u8, retrieval operation by the processing circuit26 is conducted.

[0091] The combination of the rotational angle position θ_(p), the axialposition z_(p), and the distance rp in Steps u7, u8, 19 are representedby the approximate position (r_(p), θ_(p) z_(p)).

[0092] In Step u9, enlargement and reduction of the image data at theapproximate position is calculated based on the magnification K obtainedin the Step u7, according to the zoom up and zoom down of the positionof the camera 9 with respect to the article 8 by the input means 27. InStep u10, the image data calculated in Step u9 is displayed on thescreen 11 of the display means 28. In Step u11, it is judged whether ornot the image of the article 8 is displayed on the screen 11 of thedisplay means 28, and if it is not necessary to perform the subsequentdisplay operation, processing goes to Step u13, where a series ofoperations are completed.

[0093]FIG. 9 is a view to explain a principle for retrieving the imageat the approximate position (r_(p), θ_(p), z_(p)) with using theprocessing circuit 26 included in the processing means 1 of thepurchaser A side. This retrieval operation is conducted in Step u8 inFIG. 8. A camera position 53 (r, θ, z), i.e., view point of thepurchaser is projected onto the virtual cylindrical plane 22 along theoptical axis 21, and a projected point t (K×r, θ, K×(z−zv)+zv) on thevirtual cylindrical plane 22 is calculated by setting the magnificationK=r_(p)/r. zv is a coordinate-value in the Z direction of a point(observation point) where the optical axis 21 crosses the rotationalaxis 15 on the virtual plane including the rotational axis 15 and theoptical axis 21. On the virtual cylindrical plane 22, lines Wi, W(i+1)circumferentially extending as equally spaced in the rotational axisdirection 15 are set and lines Q (j−1), Qj, Q(j+1) extending verticallyalong the rotational axis 15 as spaced at equal angle around therotational axis 15 are set. Imaging points e, f, g, h as positions wherethe images are taken by the camera 9 are points where the lines Wi, W(i+1) cross the lines Q (j−1), Qj, Q(j+1). The lines Wi, W (i+1), andthe lines Q (j−1), Qj, Q(j+1) form lattice. Based on a calculation ofthe projected point t, it is judged that the projected point t islocated in a region 54 of the virtual cylindrical plane 22 surrounded bythe imaging points e, f, g, and h. Subsequently, distances Let, Lft,Lgt, Lht from the projected point t to the imaging positions e, f, g, hin the region 54 where the projected point t is located are calculated.For example, the distance Let represents the distance between theimaging point e and the projected point t.

[0094] For example, in this embodiment,

[0095] when Lft<Let<Lht<Lgt . . . (2), the imaging point f which resultsin the minimum distance Lft among the four distances in the formula 2 isset as the approximate position (r_(p), θ_(p), z_(p)) at which thepurchaser checks. By thus setting the imaging point f as the approximateposition, the image data of the imaging point f as the approximateposition is obtained by retrieval.

[0096]FIG. 10 is a simplified cross-sectional view of still anotherembodiment of the present invention. A robot 18 comprises a traversingmeans 46 in X-axis and Y-axis directions in a horizontal plane in arectangular coordinate system having a rotational axis 15 as Z-axis andthe X-axis and Y-axis in the horizontal plane, and a robot body 47. Therobot body 47 has the rotational axis 15 coincident with the Z-axis. Awrist 19 of the robot body 47 is provided with the camera 9 as describedabove. The camera 9 is adapted to take an image of an inner surface ofan article 48 as a house according to an imaging position, and the imageis stored in the aforementioned memory 31. The purchaser A operates theinput means 27 of the processing means 1 and watches the image of theinner surface of the article 48 on the screen 11 of the display means 28at a desired imaging position.

[0097] In the above embodiment of the present invention, the image ofthe article 8 can be visually checked at the position desired by thepurchaser A, and the image is an actual image of the article 8, whichcan be quickly played back and edited as desired. Further, the image canbe easily created and constructed by checking through the conventionaltelevision receiver, for example, so-called television shopping.Moreover, the actual image data can be easily stored and created. Sincethe image data is associated with the imaging position of the camera,and hence the position from where the purchaser checks, retrieval can beconducted intuitively. The image data may be still images, or otherwisea moving image of serial still images. In this way, as a virtual robot(robot 18 in FIG. 1), the actual images of the article 8 can bemanipulated as if the purchaser were enjoying a game. Further, two-waycommunication such as Internet communication facilitates selection ofthe images by the purchaser as well as reception of one-way informationfrom the seller.

[0098] In the above embodiment, partial enlargement and reduction of theimage makes it possible that the image of the article 8 can be easilyzoomed up and zoomed down to be checked. Besides, the camera posturerepresenting the view line 21 can be determined so that the view pointof the camera 9 passes through the observation point such as center ofgravity of the article 8, thereby facilitating moving operation of thechecking point or the like by the purchaser.

[0099] In the above embodiment, the still images taken by the camera 9are addressed based on the imaging points according to coordinates ofthe article 8, and in addition, the posture of the camera 9 and thestate-mode of the article 8 are selected, so that the image data of thearticle 8 can be freely manipulated and visually checked in retrieval.Thus, the still images can be stored in the memory 31 automatically andsystematically. By using the magnification K, retrieval of the image atthe approximate position (r_(p), θ_(p), z_(p)) can be conducted. Theteaching of several points to the robot 18 enables calculation of theimaging position as the imaging point in the form of curved planelattice. The camera posture as the camera angle can be alsoindependently calculated based on directional equal division instead ofcenter of gravity of the article 8. The position and posture of thecamera that has certain thickness that is normally assumed can berealized by the curved-plane movement by the robot 18 and the turntable16. The robot 18 may be replaced by reciprocation driving means forreciprocating in the direction parallel to the rotational axis 15 in theplane including the rotational axis 15 coincident with Z-axis to therebymove the camera 9. This simplifies constitution.

[0100] The imaging position of the camera 9 can be easily specified byrendering the Z-axis coincident with the rotational axis 15 in therectangular coordinate system which is fixed to the turntable 16. Inanother embodiment of the present invention, the moving image may bedisplayed in such a manner that the still images are refreshed accordingto a certain moving distance rather than time, thereby continuouslyperforming zoom up and zoom down of the article 8. Further, by using adevice for positioning the turn table 16 on which the article 8 isplaced and the robot 18 provided with the camera 9, relative movementmay be carried out and the camera 9 may automatically take an image ofthe article 8. Further, as described with reference to FIG. 9, the imageof the inner surface of the article 48 of a building such as the housecan be taken by the camera 9 and stored in the memory 31 to bedistributed via the communication network 4. This makes it possible thatthe camera 9 is an automatic focus camera which is attached to the wrist19 of the robot body 47 and thus constituted robot 18 of plural axesdirects the optical axis 28 of the camera 9 radially outwardly to takean image, thus obtaining the image data. As a result, the purchaser Acan see the image of the inner surface of the article 48 on the screen11 of the display mans 28 of the processing means 1.

[0101] In another embodiment of the present invention, a plurality ofcameras 9 may be provided on a fixed basis and the article 8 may bedisplaced relatively to the camera 9 that is adapted to take an image ofthe article 8.

[0102]FIG. 11 shows still another embodiment of the present invention.An imaging means 61 in FIG. 11 is configured such that a camera does notmove so as to be close to an article but turns and the like to takeimages of around it. For example, the camera is adapted to take imagesof an inner surface of a house or outside scenery. In this respect, theimaging means 61 is similar to a mechanism of the imaging mechanism inFIG. 10. The camera 9 is fixed to a conveying means 63 such as a caravancar and stationary, and a movable reflecting mirror (hereinafter simplyreferred to as a reflecting mirror) 64 is provided at a position forwardof the camera 9. Light reflected on the article is reflected on thereflecting mirror 64 and received by a light-receiving portion of thecamera along the optical axis 21 of the camera 9. In this embodiment,the camera 9 is installed such that the optical axis 21 is verticallyupward. The reflecting mirror 64 is turnable around the optical axis ofthe camera 9 and vertically pivotable so that the angle at which areflecting plane of the reflecting mirror 64 crosses the optical axis 21of the camera 9 varies. The center of the reflecting mirror 64 crossesthe optical axis 21 of the camera 9, which crossing point corresponds tothe center of the turn. The reflecting mirror 64 pivots around thehorizontal line that passes through the center of the turn. In otherwords, the horizontal line becomes the rotational axis for pivoting ofthe reflecting mirror 64. The turn angle of the reflecting mirror 64 isrepresented by θ and the elevation angle of the reflecting mirror isrepresented by α. θ and α specify the posture of the camera 9 withrespect to the scenery. The elevation angle α is based on an angle madeby a direction of the axis perpendicular to the reflecting plane and apredetermined reference direction at the point where the optical axis 21of the camera crosses the reflecting plane of the reflecting mirror 64.

[0103] In accordance with the imaging means 61, a conveying means 63enables the imaging means 61 to move to desired places outside. In theselected place, turning, i.e., shift movement in the form of circle ofthe reflecting mirror 64 makes it possible that the scenery is imaged ina range of 360° around the installation position of the reflectingmirror 64. By combining turning and elevation movement of the reflectingmirror 64, that is, by radial shift operation, the scenery in a range ofradial direction (substantially a range of spherical plane) from thereflecting mirror 64 can be imaged. Further, the reflecting mirror 64may be vertically movable integrally with the camera 9 along the opticalaxis 21 of the camera 9.

[0104] In the imaging means 65 in FIG. 12, the camera 9 is turnableintegrally with the reflecting mirror 64 around the optical axis of thecamera 9. Since the camera 9 turns integrally with the reflecting mirror64, and therefore, the image of the scenery does not rotate on thelight-receiving plane of the camera, it is not necessary to correct theimage on the screen. Similarly to the imaging means 61 in FIG. 11, thereflecting mirror 64 is vertically pivotable.

[0105] The image taken by the above-identified imaging means 61, 65 isprocessed by the processing means 1, 24 in FIG. 4. In this case, thedetecting means 32, 33 in the processing means 24 may be replaced bydetecting means for detecting a turn angle θ and an elevation angle α.

[0106]FIG. 13 is a view showing that the users A, B are watching imagesby the processing means A, B. FIG. 13(1) is a view showing a screen 11by the processing means 1 of the user A and FIG. 13(2) is a view showingthe screen 11 by the processing means 2 of the user B. An imagerepresenting a front view of Mt. Fuji (scenery) is displayed on thescreen 11, while an image representing a right lower side view of theMt. Fuji is displayed on the screen 12. On these screens 1, 12, images62 a, 62 b respectively selected by the users A, B are displayed, andthese images 62 a, 62 b are selectively displayed. The postures of thereflecting mirror 64 for taking these images 62 a, 62 b are illustratedin Table 3. TABLE 3 Posture of Reflecting Mirror 64 θ α (1) θ a α a (2)θ b α b

[0107]FIG. 14 is a view to explain part of an operation of theprocessing circuit 29 of the seller-side processing means 24. Step s1advances to Step s2, where the reflecting mirror 64 is set at a stand-byposition (stand-by angle). The distance between the camera 9 and thescenery is represented by the variable r. In Step s3, radial movement isselected as the shift movement of the reflecting mirror. As describedabove, circular movement may be selected instead of the radial movement.

[0108] In Step s4, the upper end of the elevation angle is selected. Theupper end refers to, for example, an angle at which light from above isincident on the light-receiving portion at about 60° with respect to thehorizontal plane. In Step s5, the magnification of the camera 9 is setto its maximum, and predetermined shift angles of the reflecting mirror64, i.e., predetermined shift turn angle Δθ and predetermined shiftelevation angle Δα are calculated. The maximum magnification of thecamera 9 refers to the state-mode in which the vision field is set toits minimum, i.e., the state-mode in which the camera 9 is renderedclosest to the scenery. In Step s6, all the turn angles θ and elevationangles α as the imaging direction of the reflecting mirror 64 which areobtained by this calculation are calculated. In Step s7, as shown intable 3, the store addresses of the memory 31 are set.

[0109]FIG. 15 is a view to explain an operation of the processingcircuit 29 of the purchaser-side processing means 24, which follows theoperation in Step s11 in FIG. 14.

[0110] In Step s8, the turn angle Δθ of the reflecting mirror 64 isinitialized to zero. In Step s9, the elevation angle α of the reflectingmirror 64 is initialized to zero, i.e. the lowermost end of the pivotingmovement of the reflecting mirror 64. In Step s10, the camera 9 takes animage of the scenery by automatic focus. The imaged image data is imagedata obtained when the magnification K is set to its maximum and giventhe distance r_(p) when stored in the memory. This prevents degradationof the image when the user enlarges and displays the image.

[0111] In Step s11, store area of the memory 31 is set based on date andtime when imaging was carried out, a distance from the camera 9 to afocal point and an angle of the reflecting mirror in the imaging. InStep s12, the image data from the camera 9 is stored and recorded inthus set store area.

[0112] In Step s13, the elevation angle of the reflecting mirror 64 isincremented by the predetermined shift elevation angle Δα (α=α+Δα) andset according to this direction. In Step s14, based on a shift callingoperation thus specified, a pivoting drive mechanism of the reflectingmirror 64 which is not shown pivotally drives the reflecting mirror 64in the direction of the shift elevation angle Δα. In Step s15, it isjudged whether or not the elevation angle Δα is the upper end of theelevation angle, and when it is judged that the elevation angle is notthe upper end, processing goes back to Step s10. When the elevationangle Δα reaches the upper end of the elevation angle, processing goesto Step s16.

[0113] In Step s16, the turn angle of the reflecting mirror 64 isincremented by the predetermined shift turn angle Δθ (θ=θ+Δθ), and theturn drive mechanism of the reflecting mirror 64 which is not shownturns in the direction of the shift turn angle Δθ. In Step s17, it isjudged whether or not the turn angle α after shifting reaches the upperlimit of the turn angle, i.e. 360°, and it is judged that the turn angleα does not reach the upper limit, processing goes back to Step s9. Whenit is judged that the turn angle α reaches 360°, it is judged that theimaging operation in all directions of the reflecting mirror 64 iscompleted, and processing goes to Step s18. In Step s18, the reflectingmirror 64 returns to its initial stand-by position. Thus, in Step s19, aseries of operations are completed.

[0114]FIG. 16 is a flowchart to explain the operation of the processingcircuit 26 included in the processing means 1 of the user A.

[0115] Step u1 advances to Step u2, where the user A operates the inputmeans 27 in the same manner as described above to perform the inputoperation in order to see the image of the scenery by the display means28. As a result, set is an initial value in the imaging direction as thereference check angle comprised of a combination of the turn angleposition θ and the elevation angle position a which are associated withthe reflecting mirror 64. The user A sees and checks the image of thescenery displayed on the screen 11 of the display means 28. Then,processing goes to Step u3.

[0116] In Step u4, the user A selects date and time when the imaging wascarried out by the operation of the input means 27. Further, the user Aoperates the input means 27 in FIG. 5 to longitudinally and laterallymove the reflecting mirror 64 from its initial imaging position andchange the distance r from the camera 9 to the focal point, thusperforming the input operation for zoom up or zoom down. In Step u5, bythe operation in Step u4, the distance r, the turn angle θ, and theelevation angle α are sequentially varied by predetermined values Δr,Δθ, and Δα, respectively.

[0117] In Step u6, it is judged whether or not a value P (=Δr²+Δθ²+Δα²)of the sum of squares of the values Δr, Δθ, Δα is zero. When it isjudged that the value P is not zero, processing goes to Step u3. In Stepu3, values Δr, Δθ, Δα are added to current values r, θ, α, and theimaging direction of the reflecting mirror 64 is set. Also, themagnification of zoom up or zoom down which is performed by theoperation of the input means 27 is calculated.

[0118] In Step u7, retrieval of the image data as a combination of theturn angle position θ_(p), the elevation angle position α_(p), and thedistance r_(p) that are stored in the memory 31 and desired by the userA, is conducted as shown in FIG. 17. Here, the distance rp is thedistance from the camera 9 to the focal point (scenery) when themagnification is 1. The above formula (1) is applied and in the formula(1), r represents the distance r in zoom up or zooms down. Themagnification K of the zoom up or zoom down by the push button 51 or 52of the input means 27 is calculated.

[0119] In steps u13-u19 in FIG. 16, part of the operation of theprocessing circuit 29 included in the processing means 24 of the selleris also illustrated.

[0120] Step u13 shows the state-mode in which the date and time when theimaging was carried out, and the angle of the reflecting mirror 64 intaking the image, and the corresponding actual image data are stored inthe memory 31. In Step u15, a voice signal is given by a voice input/outdevice by a microphone. The voice signal may be data for explainingplace, weather, and climate of the scenery. In Step u14, the image dataobtained in Step u13 and the voice data obtained in Step u15 are edited,and texture information, voice, and the like associated with the sceneryare combined and stored in the memory 31.

[0121] In Step u16, the image data of the scenery and the informationedited in Step u15 are stored in the memory 31 as being associated witheach other.

[0122] In Step u17, a response to a request signal from the processingmeans 1 of the user A via the communication network 4 is made, and inStep u18, the neighboring image data associated with the turn angleposition θ_(p), the elevation angle position α_(p), and the distance rpwhich are specified by the input means 27 are read out from the memory31 and sent to the processing circuit 26. In Step u19, the image dataread out from the memory 31 is sent to the processing circuit 26, whichperforms retrieval operation in the above Step u7. The combination ofthe turn angle position θ_(p), the elevation angle position α_(p), andthe distance rp in steps u17, u18 are represented by the approximateposition (r_(p), θ_(p), α_(p)).

[0123] In Step u8, based on the obtained magnification K, enlargementand reduction of the image data at the approximate position arecalculated according to zoom up and zoom down of the camera 9 withrespect to the scenery by the input means 27. In Step u9, the image datacalculated in Step u8 is displayed on the screen 11 of the display means28. In Step u10, it is judged whether or not the image of the scenery isdisplayed on the screen 11 of the display means 28, and when thesubsequent display operation is not necessary, processing goes to Stepu12, and a series of operations are completed.

[0124] Retrieval of the image at the approximate position (r_(p), θ_(p),α_(p)) by the processing circuit 26 of the processing means 1 of theuser A is identical to the above explanation made with reference to FIG.9, and therefore will not be further described. It should be noted thatin FIG. 9, the virtual plane where the imaging point t is located is thecylindrical plane including the rotational axis 15 of the article 8 asthe center axis, but in this embodiment, the virtual plane is aspherical plane around the camera 9 in which lattice comprised oflatitude lines and meridian lines are set. When the shift movement inthe form of circle is selected in Step s3 in FIG. 14, a virtual circleis obtained instead of the virtual spherical plane.

[0125]FIG. 17 shows that when the image data is displayed on the screen11 in Step u9 in FIG. 16, with the magnification K less than 1, that is,the zoom-down image is desired, a composite image is displayed. Forexample, in FIG. 17(1), G represents the observation pint of the user A,and the centers of respective images to be composed are e (r_(p),θ_(p)−1, α_(p)+1), f (r_(p), θ_(p)−1, α_(p)), g (r_(p), θ_(p), α_(p)+1),h (r_(p), θ_(p), α_(p)). When the user A perform zoom-down operation atthe observation point G, the above four images are reduced by K andallocated into the screen 11. Sine there is no blank space in the screen11, the image display is completed. In FIG. 17(2), likewise, the fourimages are reduced by K and allocated into the screen 12, but sincethere is still some blank space left in the screen 12, an image (r_(p),θ_(p)+1, α_(p)+1) and an image (r_(p), θ_(p)+1, α_(p)) are allocatedinto the right side of the screen 12, an image (r_(p), θ_(p)−1, α_(p)−1)and an image (r_(p), θ_(p), α_(p)−1) are allocated into the lower sideof the screen 12, and an image (r_(p), θ_(p)+1, α_(p)−1) is allocatedinto lower right side of the screen 12. In this manner, the blank spacein the screen 12 is perfectly filled and the image display is completed.

INDUSTRIAL APPLICABILITY

[0126] In accordance with the present invention, an operator specifiesan imaging position of an image of an outer surface or inner surface ofan article such as a commercial product, and an image of outside sceneryby using a specifying means, thereby obtaining the image of the articlefrom a desired viewpoint. In this way, the operator can observe thearticle or the like from desired imaging position, and hence desiredviewpoint. Therefore, it is advantageous that when the article is acommercial product, a purchaser operates the specifying means andwatches the article as serial images of its entire periphery. Inaddition, the operator can freely select the scenery image, andtherefore enjoy virtual trip. The image data of the article or the likeis stored in a memory as being associated with each imaging position.Since editing of scenario in the prior art is unnecessary and correctionof the image data obtained by the camera is unnecessary, labor isreduced and working time and expense for creating the image data storedin the memory can be significantly reduced.

[0127] Since the image of the article or the like is taken by the camerain such a manner than the optical axis of the camera passes through theobservation point of the article or the like, the operator can observethe image of the article or the like while watching the desiredobservation point of the article or the like. This makes it easy thatthe purchaser observes the commercial product when the article is thecommercial product.

[0128] The zoom up and zoom down operations of the image of the articleor the like can be performed in real time, and therefore, the article orthe like can be more easily observed.

[0129] The operator can randomly access and select the state-mode ofvarious types of movement of the article, and more easily observe thearticle.

[0130] Since the use of the specifying means can specify the imagingposition of the camera at which the image data stored in the memory iscreated while continuously changing the position into its adjacentposition, the operator can observe the image of the article whilecontinuously changing the view point of the operator. This makes itpossible that the operator observes the article while continuouslymoving the view point like actual his/her eye's movement.

[0131] The turn table allows the article to rotate around the rotationalaxis, the camera installed on the wrist of the robot allows the articleto be imaged at the position along the rotational axis, and the imagedata for each imaging position as a combination of a rotational angleand an axial position can be automatically written onto the memory.

1. An image data creating device comprising: a camera for taking animage of an object to be imaged; a displacing means for changingrelative positional relationship between the camera and the object to beimaged; a displacement detecting means for detecting relativedisplacement between the camera and the object to be imaged; a memoryfor storing data of the image taken by the camera; a memory controlmeans adapted to store the data of the image taken by the camera in thememory as being associated with each relative positional relationshipbetween the camera and the object to be imaged in taking the image; anda transmission/reception means capable of transmitting the data of theimage to an external image display device.
 2. The image data creatingdevice according to claim 1, wherein the displacing means includes afirst displacing means for displacing the object to be imaged and asecond displacing means for displacing the camera, further comprising: afirst displacement detecting means for detecting displacement of theobject to be imaged and a second displacement detecting means fordetecting displacement of the camera, and wherein the memory controlmeans is adapted to, in response to outputs of the first displacementdetecting means and the second displacement detecting means, define therelative positional relationship based on a combination of the detecteddisplacement of the object to be imaged and the detected displacement ofthe camera.
 3. The image data creating device according to claim 1,wherein the first displacing means is comprised of a turntable forrotating the object to be imaged around a predetermined rotational axis,the second displacing means is comprised of a robot of plural axes fordisplacing the camera along the rotational axis, the first displacementdetecting means is comprised of a rotational angle detecting means fordetecting a rotational angle of the turn table, and the seconddisplacement detecting means is comprised of an axial position detectingmeans for detecting the axial position of the camera.
 4. The image datacreating device according to claim 1, wherein the displacing means iscomprised of a movable reflecting mirror provided on an optical axis ofthe camera, the movable reflecting mirror being adapted to turn aroundthe optical axis of the camera, and reflected light from the object tobe imaged is adapted to be reflected on a reflecting plane of themovable reflecting mirror and then be incident on the camera along theoptical axis.
 5. The image data creating device according to claim 4,wherein the movable reflecting mirror is adapted to pivot around astraight line, which passes through a point where the optical axis ofthe camera crosses the reflecting plane and is perpendicular to theoptical axis of the camera.
 6. The image data creating device accordingto claim 5, comprising a turn angle detecting means and a pivot angledetecting means of the movable reflecting mirror, wherein the memorycontrol means is adapted to, in response to outputs of the turn angledetecting means and the pivot angle detecting means, define the relativepositional relationship based on a combination of the detected turnangle and the detected pivot angle.
 7. An image display devicecomprising: a transmission/reception means capable of receiving imagedata from an external memory in which the image data for each of pluralimaging positions obtained by taking an image at each of the pluralimaging positions having different relative positional relationshipsbetween an object to be imaged and a camera that takes an image of theobject to be imaged is stored as being associated with the each imagingposition; a display means; a specifying means for specifying the imagingposition; and a control means adapted to, in response to an output ofthe specifying means, read out at least part of the image data at apredetermined imaging position from the external memory and display thepart of the image data by the display means, and then adapted to readout image data corresponding to the imaging position specified by thespecifying means from the external memory and display the image data bythe display means.
 8. The image display device according to claim 7,wherein plural pieces of image data stored in the external memory areobtained by taking images while keeping a posture of the camera in sucha manner that the optical axis of the camera passes through apredetermined portion of the object to be imaged at the respectiveimaging positions of the camera.
 9. The image display device accordingto claim 7, wherein the specifying means is adapted to specify a zoomup/zoom down position which is close to/or away from the object to beimaged as the imaging position of the camera, and the control means isadapted to enlarge/reduce the image data in the external memory with amagnification corresponding to the zoom up/zoom down position anddisplay the image data by the display means.
 10. The image displaydevice according to claim 7, wherein the image data stored in theexternal memory are obtained by taking images of plural kinds of statesof the object to be imaged by the camera, the specifying means isadapted to specify one of the states, and the control means is adaptedto read out image data in the state specified by the specifying meansfrom the external memory and display the image data by the displaymeans.
 11. The image display device according to claim 7, wherein thespecifying means is adapted to continuously specify adjacent imagingpositions.
 12. An image display system comprising the image datacreating device according to claim 1, an image display devicecomprising: a transmission/reception means capable of receiving imagedata from an external memory in which the image data for each of pluralimaging positions obtained by taking an image at each of the pluralimaging positions having different relative positional relationshipsbetween an object to be imaged and a camera that takes an image of theobject to be imaged is stored as being associated with the each imagingposition; a display means; a specifying means for specifying the imagingposition; and a control means adapted to, in response to an output ofthe specifying means, read out at least part of the image data at apredetermined imaging position from the external memory and display thepart of the image data by the display means, and then adapted to readout image data corresponding to the imaging position specified by thespecifying means from the external memory and display the image data bythe display means, and a network connecting a transmission/receptionmeans of the image data creating device and a transmission/receptionmeans of the image display device so as to enable two-way communication.13. A method of displaying an image comprising: a store step of storingimage data for each of plural imaging positions obtained by taking animage at each of the plural imaging positions having different relativepositional relationships between an object to be imaged and a camerathat takes an image of the object to be imaged as being associated withthe each imaging position; a read-out step of specifying an imagingposition corresponding to the mage data and reading out the data fromthe memory; and a display step of displaying the read out image data bya display means as an image.
 14. The method of displaying the imageaccording to claim 13, wherein in the read-out step, the image datacorresponding to the specified imaging position and image datacorresponding to an imaging position adjacent to the specified imagingposition are read out, and in the display step, the image datacorresponding to the adjacent imaging position is displayed as the imageadjacently to the image corresponding to the specified imaging position.15. An image display system comprising the image data creating deviceaccording to claim 1; an image display device comprising: atransmission/reception means capable of receiving image data from anexternal memory in which the image data for each of plural imagingpositions obtained by taking an image at each of the plural imagingpositions having different relative positional relationships between anobject to be imaged and a camera that takes an image of the object to beimaged is stored as being associated with the each imaging position; adisplay means; a specifying means for specifying the imaging position;and a control means adapted to, in response to an output of thespecifying means, read out at least part of the image data at apredetermined imaging position from the external memory and display thepart of the image data by the display means, and then adapted to readout image data corresponding to the imaging position specified by thespecifying means from the external memory and display the image data bythe display means; and a network connecting a transmission/receptionmeans of the image data creating device and a transmission/receptionmeans of the image display device so as to enable two-way communication.16. The image display system according to claim 15, wherein pluralpieces of image data stored in the external memory are obtained bytaking images while keeping a posture of the camera in such a mannerthat the optical axis of the camera passes through a predeterminedportion of the object to be imaged at the respective imaging positionsof the camera.
 17. The image display system according to claim 15,wherein the specifying means is adapted to specify a zoom up/zoom downposition which is close to/or away from the object to be imaged as theimaging position of the camera, and the control means is adapted toenlarge/reduce the image data in the external memory with amagnification corresponding to the zoom up/zoom down position anddisplay the image data by the display means.
 18. The image displaysystem according to claim 15, wherein the image data stored in theexternal memory are obtained by taking images of plural kinds of statesof the object to be imaged by the camera, the specifying means isadapted to specify one of the states, and the control means is adaptedto read out image data in the state specified by the specifying meansfrom the external memory and display the image data by the displaymeans.
 19. The image display system according to claim 15, wherein thespecifying means is adapted to continuously specify adjacent imagingpositions.
 20. The image display system according to claim 15, whereinthe displacing means includes a first displacing means for displacingthe object to be imaged and a second displacing means for displacing thecamera, further comprising: a first displacement detecting means fordetecting displacement of the object to be imaged and a seconddisplacement detecting means for detecting displacement of the camera,and wherein the memory control means is adapted to, in response tooutputs of the first displacement detecting means and the seconddisplacement detecting means, define the relative positionalrelationship based on a combination of the detected displacement of theobject to be imaged and the detected displacement of the camera.
 21. Theimage display system according to claim 15, wherein the first displacingmeans is comprised of a turntable for rotating the object to be imagedaround a predetermined rotational axis, the second displacing means iscomprised of a robot of plural axes for displacing the camera along therotational axis, the first displacement detecting means is comprised ofa rotational angle detecting means for detecting a rotational angle ofthe turn table, and the second displacement detecting means is comprisedof an axial position detecting means for detecting the axial position ofthe camera.
 22. The image display system according to claim 15, whereinthe displacing means is comprised of a movable reflecting mirrorprovided on an optical axis of the camera, the movable reflecting mirrorbeing adapted to turn around the optical axis of the camera, andreflected light from the object to be imaged is adapted to be reflectedon a reflecting plane of the movable reflecting mirror and then beincident on the camera along the optical axis.
 23. The image displaysystem according to claim 22, wherein the movable reflecting mirror isadapted to pivot around a straight line, which passes through a pointwhere the optical axis of the camera crosses the reflecting plane and isperpendicular to the optical axis of the camera.
 24. The image displaysystem according to claim 23, comprising a turn angle detecting meansand a pivot angle detecting means of the movable reflecting mirror,wherein the memory control means is adapted to, in response to outputsof the turn angle detecting means and the pivot angle detecting means,define the relative positional relationship based on a combination ofthe detected turn angle and the detected pivot angle.